CANopenEvent (ENUM) ¶ TYPE CANopenEvent : Defines all CANopen Events which can be retrieved by an ICANopenEventHandler . See also CANopenManager.RegisterEventHandler and CANopenManager.UnregisterEventHandler . Attributes: qualified_only InOut: Name Initial Comment AFTER_SDO_CONFIG 0 Will be fired directly after the sdo configuration phase of one slave (before NMT start).
DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : Decribes all possible states of a CANopen device Attributes: qualified_only InOut: Name Initial Comment INIT ANYNUM_TO_INT(CS.DEVICE_STATE.INIT) Device is in boot up phase RESET_COMM ANYNUM_TO_INT(CS.DEVICE_STATE.RESET_COMM) Device performs a reset communication RESET_APP ANYNUM_TO_INT(CS.DEVICE_STATE.RESET_APP) Device performs a reset application PRE_OPERATIONAL ANYNUM_TO_INT(CS.DEVICE_STATE.PRE_OPERATIONAL) Device is in PREOPERATIONAL state (default state after boot up). STOPPED ANYNUM_TO_INT(CS.DEVICE_STATE.STOPPED) Device is in STOPPED state. OPERATIONAL ANYNUM_TO_INT(CS.DEVICE_STATE.OPERATIONAL) Device is in OPERATIONAL state. I/O messaging is active. UNKNOWN ANYNUM_TO_INT(CS.DEVICE_STATE.UNKNOWN) Device state is unknown. For example if no guarding mechanism is active. NOT_AVAIL ANYNUM_TO_INT(CS.DEVICE_STATE.NOT_AVAIL) Device was not found on bus.
GUARDING_TYPE (ENUM) ¶ TYPE GUARDING_TYPE : Attributes: qualified_only InOut: Name Comment NONE HEARTBEAT Heartbeat Producing according to CiA 301 NODEGUARDING Nodeguarding according to CiA 301 SYNC_PDO_GUARDING If cyclic synchronous PDOs are activated they are used for life guarding.
NMT_ERROR_BEHAVIOUR (ENUM) ¶ TYPE NMT_ERROR_BEHAVIOUR : Defines the error behaviour algorithm used by a CANopenManager . Attributes: qualified_only InOut: Name Comment RESTART_SLAVE Restart slave if an error control event occurrs. STOP_SLAVE Stop slave if an error control event occurs. The application may start the slave afterwards by Cia405 NMT function block.
Interfaces ¶ ICANopenEventHandler (Interface) EventCallback (Method)
CANRemoteModule_Diag.ParentNode (PROP) ¶ PROPERTY ParentNode : DED.INode Returns the parent node or zero if the root node is already reached.
CANRemoteModule_Diag.SiblingNodeCount (PROP) ¶ PROPERTY SiblingNodeCount : CAA.COUNT Returns the number of sibling (same level) nodes
CANopenManager_Diag (FB) ¶ FUNCTION_BLOCK CANopenManager_Diag EXTENDS CANopenManager IMPLEMENTS DED.IStack, DED.IDevice2, DED.IBus, DED.IReconfigureProvider CANopenManager function block for Device Diagnosis. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: ChildNodeCount Connector Enable FirstChildNode Index IsRootNode KernelState , inherited from CANopenManager MandatorySlavesBooted , inherited from CANopenManager NMTInhibitTime , inherited from CANopenManager NextSiblingNode OptionalSlavesBooted , inherited from CANopenManager ParentNode SiblingNodeCount Methods: CheckCurrentSupportedCommunicationState CheckSupportedCommunicationState GetBusInfo GetBusState GetDeviceInfo GetDeviceState GetQoS GetSlaveByNodeID , inherited from CANopenManager RegisterEventHandler , inherited from CANopenManager SetCommunicationState UnregisterEventHandler , inherited from CANopenManager Structure: IBus GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)
IBus ¶ GetBusInfo (Method) GetBusState (Method) GetQoS (Method)
CANopenManager_Diag.GetBusInfo (METH) ¶ METHOD GetBusInfo : DED.ERROR Returns information about the associated CANbus. Interpretation of DED.BUS_INFO is as follows: Component Interpretation eType DED.BUS_TYPE.CANOPEN idSystem Network ID idInstance Instance number in I/O configuration (starting by 0) InOut: Scope Name Type Comment Return GetBusInfo DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout buiInfo DED.BUS_INFO bus information
